I built a frame out of 80/20 and mounted it directly to Sawyer so it's physically impossible for Sawyer to move from it's pick and place locations. I have a Harmo robot placing objects onto the frame and Sawyer puts them into boxes that are also on the same frame. I had problems with getting the landmark to work in the beginning so I've never used it since.
I was never able to figure it out. The first time it happened I recalibrated and it remained the same. The origin seemed to have shifted in the x-direction. So I thought ok, it must be either within Sawyer's encoders or maybe there is something weird in my program. I remade the program and it's origin was still off from the previous time but I continued on. When it did it shifted the second time, I never recalibrated, I just deleted the program and made a whole new one (very frustrating) but it went back to the previously shifted position, not the original origin from when I started programming it. I haven't ran it that much since, so I am not sure if it will do it again. Hopefully next week I will have my one of my end effectors made so that I can run for a while and see what happens.